一种绕任意轴旋转的捷联惯导系统多位置初始对准方法

摘要

The multi-position alignment method based on single-axis rotation strapdown inertial navigation systems (SINSs) usually requires the rotation axis to be along the azimuth axis, and the coincidence error of the axes could influence the accuracy of the multi-position method. To solve this problem, a multi-position initial alignment method was proposed, in which the rotation axis could be in arbitrary direction without having to coincide with the azimuth axis. The whole biases of the IMU could be obtained only by making the IMU rotate over two given angles. In this way, the performance of the alignment is improved. Simulation results show that the alignment accuracy of the proposed multi-position method is significantly improved compared with that of the one-position analytic coarse alignment method, and the error of the yaw is decreased to less than 0.2 from the original 5.%基于单轴旋转 SINS 的多位置对准方法通常要求旋转轴和方位轴重合，轴重合误差会影响多位置对准精度。针对这一问题，提出了一种可绕任意轴旋转的多位置初始对准方法，几何分析指出，该旋转轴可沿任意方向，不需要与方位轴重合，它只需绕某任意旋转轴转过两个已知角度即可解算出IMU的零偏，提高对准精度。仿真实验显示，提出的绕任意轴旋转的多位置对准方法相比单个位置下的解析粗对准方法的对准精度显著提高，航向角误差由5降低到0.2以下。